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Hierarchical fiducial marker design for pose estimation in large‐scale scenarios
Author(s) -
Wang Hao,
Shi Zongying,
Lu Geng,
Zhong Yisheng
Publication year - 2018
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.21780
Subject(s) - fiducial marker , pose , scale (ratio) , computer science , artificial intelligence , range (aeronautics) , estimation , computer vision , engineering , aerospace engineering , geography , cartography , systems engineering
Abstract In this paper, a hierarchical fiducial marker, called HArCo, is designed to guarantee a smooth pose estimation for large‐scale applications. HArCo markers have a visually identifiable structure on multiple scales, so they can be used for consistent pose estimation across a range of altitudes. Experimental results are presented to validate the performance of the proposed methodologies; oscillating platform landing experiments were conducted to show the ability of HArCo to be used in real landing tasks on the deck of a ship.